Add Ignition model for Alti Transition QuadPlane

[srmainwaring]

This PR adds an Ignition model for the Alti Transition QuadPlane. It has been adapted from the corresponding RealFlight model here: Alti Transition QuadPlane

Usage

Run Gazebo

ign gazebo -v4 -r alti_transition_runway.sdf

Launch ArduPilot SITL

~/SITL_Models/Ignition/launch/runway-alti_transition_quad.sh

Launch MAVProxy

~/SITL_Models/Ignition/launch/mavproxy-01-vehicle.sh

Preflight checks

The parameters configure the vehicle as an H-frame as this seems to give better yaw control.

Motors

# front right motor (motor1) should spin clockwise
MANUAL> motortest 1 1 1005 2

# rear right motor (motor4) should spin counter-clockwise
MANUAL> motortest 2 1 1005 2

# rear left motor (motor2) should spin clockwise
MANUAL> motortest 3 1 1005 2

# front left motor (motor3) should spin counter-clockwise
MANUAL> motortest 4 1 1005 2

# pusher motor (throttle) should spin clockwise
MANUAL> arm throttle
MANUAL> rc 3 1010

Notes

• The model is auto-tuned using a combination of parameters from the Skywalker X8 quadplane and the RF Alti Transition as an initial configuration.
• The CP for the main wing and CoM for the base link have been adjusted to reduce the amount of elevator required to maintain level flight (it was originally saturating), another round of tuning the model physical parameters could reduce this further (see figure below)